%%?demo.m
%
%?Shows?a?couple?of?sample?registrations?using?
%?ICP?-?Iterative?Closest?Point
%
%?Jakob?Wilm?and?Martin?Kjer?Technical?University?of?Denmark?2012

m?=?80;?%?width?of?grid
n?=?m^2;?%?number?of?points

[XY]?=?meshgrid（linspace（-22m）?linspace（-22m））;

X?=?reshape（X1[]）;
Y?=?reshape（Y1[]）;

Z?=?sin（X）.*cos（Y）;

%?Create?the?data?point-matrix
D?=?[X;?Y;?Z];

%?Translation?values?（a.u.）:
Tx?=?0.5;
Ty?=?-0.3;
Tz?=?0.2;

%?Translation?vector
T?=?[Tx;?Ty;?Tz];

%?Rotation?values?（rad.）:
rx?=?0.3;
ry?=?-0.2;
rz?=?0.05;

Rx?=?[1?0?0;
??????0?cos（rx）?-sin（rx）;
??????0?sin（rx）?cos（rx）];
??
Ry?=?[cos（ry）?0?sin（ry）;
??????0?1?0;
??????-sin（ry）?0?cos（ry）];
??
Rz?=?[cos（rz）?-sin（rz）?0;
??????sin（rz）?cos（rz）?0;
??????0?0?1];

%?Rotation?matrix
R?=?Rx*Ry*Rz;

%?Transform?data-matrix

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2012-08-09?22:24??__MACOSX\
?????文件?????????216??2012-07-17?05:28??__MACOSX\._demo.m
?????文件?????????216??2012-08-09?22:23??__MACOSX\._icp.m
?????文件????????3746??2012-07-17?05:28??demo.m
?????文件???????18320??2012-08-09?22:23??icp.m
?????文件????????1350??2012-08-09?22:26??license.txt